Activation Of Pdos; Sync Message - Festo CiA 402 Manual

3 CANopen access procedure
3.3.3

Activation of PDOs

For the motor controller to send or receive PDOs, the following points must be met:
– The object number_of_mapped_objects must not equal 0.
– In the object cob_id_used_for_pdos, bit 31 must be deleted.
– The communication status of the motor controller must be operational (
Management: NMT-Service).
3.4

SYNC message

Several devices of a system can be synchronised with each other. To do this, one of the devices (usually
the higher-order controller) periodically sends out synchronisation messages. All connected controllers
receive these messages and use them for treatment of the PDOs (
Identifier Data length
80 0
h
The identifier on which the motor controller receives the SYNC message is set permanently to 080
identifier can be read via the object cob_id_sync.
Index
Name
Object Code
Data Type
Access
PDO Mapping
Units
Value Range
Default Value
32
1005
h
cob_id_sync
VAR
UINT32
rw
no
--
80000080 , 00000080
h
00000080
h
Chapter 3.3).
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Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Chapter 3.6, Network
. The
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